平行二輪車の姿勢制御に関する研究(第1報) : 倒立振子モデルによる非線形系の制御シミュレーション

概要

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This paper describes the design and simulation of the postural control system of a twin cycle which has twin wheels on a driving axis and a controlling arm suspended from the upper structure. The three-degree-of-freedom twin cycle is modeled as a wheel and an inverted pendulum with a controlling arm pivoted at its upper end. The controlling arm rotates to give a pendulum restoring moment. A nonlinear feedback control system for the model has been designed using a unique model matching method with which time varying feedback coefficients are computed for each sampling time by coinciding the poles of the characteristic equation of the model with those of a given stable system. Simulation of the control systems has been carried out on a personal computer. The inverted pendulum system can be stabilized quickly against given initial disturbances.
公益社団法人精密工学会の論文
1987-10-05